diff --git a/doc/manual/jtag/drivers/remote_bitbang.txt b/doc/manual/jtag/drivers/remote_bitbang.txt
index 7c8eee289..94d603816 100644
--- a/doc/manual/jtag/drivers/remote_bitbang.txt
+++ b/doc/manual/jtag/drivers/remote_bitbang.txt
@@ -37,12 +37,16 @@ swdio_read
 swd_write
 	Set the value of swclk (tck) and swdio (tms).
 
+(optional) sleep
+	Instructs the remote host to sleep/idle for some period of time before
+		executing the next request
+
 An additional function, quit, is added to the remote_bitbang interface to
 indicate there will be no more requests and the connection with the remote
 driver should be closed.
 
-These eight functions are encoded in ASCII by assigning a single character to
-each possible request. The assignments are:
+The eight mandatory functions are encoded in ASCII by assigning a single
+character to each possible request. The assignments are:
 
 	B - Blink on
 	b - Blink off
@@ -70,4 +74,10 @@ each possible request. The assignments are:
 
 The read responses are encoded in ASCII as either digit 0 or 1.
 
+If the use_remote_sleep option is set to 'yes', two additional requests may
+be sent:
+
+	D - Sleep for 1 millisecond
+	d - Sleep for 1 microsecond
+
  */
diff --git a/doc/openocd.texi b/doc/openocd.texi
index 6c6519d62..ec7c9964a 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -2839,6 +2839,15 @@ Specifies the hostname of the remote process to connect to using TCP, or the
 name of the UNIX socket to use if remote_bitbang port is 0.
 @end deffn
 
+@deffn {Config Command} {remote_bitbang use_remote_sleep} (on|off)
+If this option is enabled, delays will not be executed locally but instead
+forwarded to the remote host. This is useful if the remote host performs its
+own request queuing rather than executing requests immediately.
+
+This is disabled by default. This option must only be enabled if the given
+remote_bitbang host supports receiving the delay information.
+@end deffn
+
 For example, to connect remotely via TCP to the host foobar you might have
 something like:
 
@@ -2848,6 +2857,15 @@ remote_bitbang port 3335
 remote_bitbang host foobar
 @end example
 
+And if you also wished to enable remote sleeping:
+
+@example
+adapter driver remote_bitbang
+remote_bitbang port 3335
+remote_bitbang host foobar
+remote_bitbang use_remote_sleep on
+@end example
+
 To connect to another process running locally via UNIX sockets with socket
 named mysocket:
 
diff --git a/src/jtag/drivers/bitbang.c b/src/jtag/drivers/bitbang.c
index 665dbf329..6e97d1584 100644
--- a/src/jtag/drivers/bitbang.c
+++ b/src/jtag/drivers/bitbang.c
@@ -278,6 +278,15 @@ static int bitbang_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
 	return ERROR_OK;
 }
 
+static void bitbang_sleep(unsigned int microseconds)
+{
+	if (bitbang_interface->sleep) {
+		bitbang_interface->sleep(microseconds);
+	} else {
+		jtag_sleep(microseconds);
+	}
+}
+
 int bitbang_execute_queue(void)
 {
 	struct jtag_command *cmd = jtag_command_queue;	/* currently processed command */
@@ -351,7 +360,7 @@ int bitbang_execute_queue(void)
 				break;
 			case JTAG_SLEEP:
 				LOG_DEBUG_IO("sleep %" PRIu32, cmd->cmd.sleep->us);
-				jtag_sleep(cmd->cmd.sleep->us);
+				bitbang_sleep(cmd->cmd.sleep->us);
 				break;
 			case JTAG_TMS:
 				retval = bitbang_execute_tms(cmd);
diff --git a/src/jtag/drivers/bitbang.h b/src/jtag/drivers/bitbang.h
index 4ea1cc045..e3714df9c 100644
--- a/src/jtag/drivers/bitbang.h
+++ b/src/jtag/drivers/bitbang.h
@@ -54,6 +54,9 @@ struct bitbang_interface {
 
 	/** Set SWCLK and SWDIO to the given value. */
 	int (*swd_write)(int swclk, int swdio);
+
+	/** Sleep for some number of microseconds. **/
+	int (*sleep)(unsigned int microseconds);
 };
 
 extern const struct swd_driver bitbang_swd;
diff --git a/src/jtag/drivers/remote_bitbang.c b/src/jtag/drivers/remote_bitbang.c
index 261c30df2..c488f8334 100644
--- a/src/jtag/drivers/remote_bitbang.c
+++ b/src/jtag/drivers/remote_bitbang.c
@@ -31,6 +31,8 @@ static int remote_bitbang_fd;
 static uint8_t remote_bitbang_send_buf[512];
 static unsigned int remote_bitbang_send_buf_used;
 
+static bool use_remote_sleep;
+
 /* Circular buffer. When start == end, the buffer is empty. */
 static char remote_bitbang_recv_buf[256];
 static unsigned int remote_bitbang_recv_buf_start;
@@ -216,6 +218,32 @@ static int remote_bitbang_reset(int trst, int srst)
 	return remote_bitbang_queue(c, FLUSH_SEND_BUF);
 }
 
+static int remote_bitbang_sleep(unsigned int microseconds)
+{
+	if (!use_remote_sleep) {
+		jtag_sleep(microseconds);
+		return ERROR_OK;
+	}
+
+	int tmp;
+	unsigned int ms = microseconds / 1000;
+	unsigned int us = microseconds % 1000;
+
+	for (unsigned int i = 0; i < ms; i++) {
+		tmp = remote_bitbang_queue('D', NO_FLUSH);
+		if (tmp != ERROR_OK)
+			return tmp;
+	}
+
+	for (unsigned int i = 0; i < us; i++) {
+		tmp = remote_bitbang_queue('d', NO_FLUSH);
+		if (tmp != ERROR_OK)
+			return tmp;
+	}
+
+	return remote_bitbang_flush();
+}
+
 static int remote_bitbang_blink(int on)
 {
 	char c = on ? 'B' : 'b';
@@ -252,6 +280,7 @@ static struct bitbang_interface remote_bitbang_bitbang = {
 	.swdio_drive = &remote_bitbang_swdio_drive,
 	.swd_write = &remote_bitbang_swd_write,
 	.blink = &remote_bitbang_blink,
+	.sleep = &remote_bitbang_sleep,
 };
 
 static int remote_bitbang_init_tcp(void)
@@ -377,6 +406,16 @@ COMMAND_HANDLER(remote_bitbang_handle_remote_bitbang_host_command)
 
 static const char * const remote_bitbang_transports[] = { "jtag", "swd", NULL };
 
+COMMAND_HANDLER(remote_bitbang_handle_remote_bitbang_use_remote_sleep_command)
+{
+	if (CMD_ARGC != 1)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	COMMAND_PARSE_ON_OFF(CMD_ARGV[0], use_remote_sleep);
+
+	return ERROR_OK;
+}
+
 static const struct command_registration remote_bitbang_subcommand_handlers[] = {
 	{
 		.name = "port",
@@ -394,7 +433,15 @@ static const struct command_registration remote_bitbang_subcommand_handlers[] =
 			"  if port is 0 or unset, this is the name of the unix socket to use.",
 		.usage = "host_name",
 	},
-	COMMAND_REGISTRATION_DONE,
+	{
+		.name = "use_remote_sleep",
+		.handler = remote_bitbang_handle_remote_bitbang_use_remote_sleep_command,
+		.mode = COMMAND_CONFIG,
+		.help = "Rather than executing sleep locally, include delays in the "
+			"instruction stream for the remote host.",
+		.usage = "(on|off)",
+	},
+	COMMAND_REGISTRATION_DONE
 };
 
 static const struct command_registration remote_bitbang_command_handlers[] = {